TY - GEN
T1 - Compact R-X-Y Stage and Dual-Finger Micromanipulator under Inverted Optical Microscope for Microassembly
AU - Pang, Jichao
AU - Chen, Zhuo
AU - Chen, Yan
AU - Li, Yuke
AU - Li, Yunsheng
AU - Huang, Qiang
AU - Arai, Tatsuo
AU - Liu, Xiaoming
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - Microassembly plays an important role in fabricating complex structures with small basic components in industrial and biomedical fields. Inverted optical microscope could provide high-quality image feedback for microassembly with its continuously improving resolution. However, a compact stage capable of positioning and reorienting micro-objects while fitting within the limited space under an inverted optical microscope remains unavailable. This paper proposes a compact R-X-Y stage that can transport micro-objects over long distances in the X and Y directions, and reorient the objects by the 360-degree continuous rotation. Additionally, different from commonly putting the rotational stage on the X-Y stage, we mount the thin X-Y stage on a rotational stage. Thus, after aligning the centers of the visual field and rotational stage at the beginning, all the visiable micro-objects will not move out of the visual field during the rotation. We further integrate the R-X-Y stage and the dual-finger micromanipulator, and then use them to assemble 2-D patterns and complex 3-D micromachine. The obtained results and preliminary demonstration indicate that the proposed compact R-X-Y has great potential in assembling complex micromachines.
AB - Microassembly plays an important role in fabricating complex structures with small basic components in industrial and biomedical fields. Inverted optical microscope could provide high-quality image feedback for microassembly with its continuously improving resolution. However, a compact stage capable of positioning and reorienting micro-objects while fitting within the limited space under an inverted optical microscope remains unavailable. This paper proposes a compact R-X-Y stage that can transport micro-objects over long distances in the X and Y directions, and reorient the objects by the 360-degree continuous rotation. Additionally, different from commonly putting the rotational stage on the X-Y stage, we mount the thin X-Y stage on a rotational stage. Thus, after aligning the centers of the visual field and rotational stage at the beginning, all the visiable micro-objects will not move out of the visual field during the rotation. We further integrate the R-X-Y stage and the dual-finger micromanipulator, and then use them to assemble 2-D patterns and complex 3-D micromachine. The obtained results and preliminary demonstration indicate that the proposed compact R-X-Y has great potential in assembling complex micromachines.
UR - https://www.scopus.com/pages/publications/105029928198
U2 - 10.1109/IROS60139.2025.11246295
DO - 10.1109/IROS60139.2025.11246295
M3 - Conference contribution
AN - SCOPUS:105029928198
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2028
EP - 2033
BT - IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings
A2 - Laugier, Christian
A2 - Renzaglia, Alessandro
A2 - Atanasov, Nikolay
A2 - Birchfield, Stan
A2 - Cielniak, Grzegorz
A2 - De Mattos, Leonardo
A2 - Fiorini, Laura
A2 - Giguere, Philippe
A2 - Hashimoto, Kenji
A2 - Ibanez-Guzman, Javier
A2 - Kamegawa, Tetsushi
A2 - Lee, Jinoh
A2 - Loianno, Giuseppe
A2 - Luck, Kevin
A2 - Maruyama, Hisataka
A2 - Martinet, Philippe
A2 - Moradi, Hadi
A2 - Nunes, Urbano
A2 - Pettre, Julien
A2 - Pretto, Alberto
A2 - Ranzani, Tommaso
A2 - Ronnau, Arne
A2 - Rossi, Silvia
A2 - Rouse, Elliott
A2 - Ruggiero, Fabio
A2 - Simonin, Olivier
A2 - Wang, Danwei
A2 - Yang, Ming
A2 - Yoshida, Eiichi
A2 - Zhao, Huijing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025
Y2 - 19 October 2025 through 25 October 2025
ER -